Image analysis – Applications – Biomedical applications
Reexamination Certificate
2011-02-07
2011-11-22
Zarka, David (Department: 2624)
Image analysis
Applications
Biomedical applications
C382S151000, C382S294000, C600S424000
Reexamination Certificate
active
08064669
ABSTRACT:
A novel framework for fast and continuous registration between two imaging modalities is disclosed. The approach makes it possible to completely determine the rigid transformation between multiple sources at real-time or near real-time frame-rates in order to localize the cameras and register the two sources. A disclosed example includes computing or capturing a set of reference images within a known environment, complete with corresponding depth maps and image gradients. The collection of these images and depth maps constitutes the reference source. The second source is a real-time or near-real time source which may include a live video feed. Given one frame from this video feed, and starting from an initial guess of viewpoint, the real-time video frame is warped to the nearest viewing site of the reference source. An image difference is computed between the warped video frame and the reference image. The viewpoint is updated via a Gauss-Newton parameter update and certain of the steps are repeated for each frame until the viewpoint converges or the next video frame becomes available. The final viewpoint gives an estimate of the relative rotation and translation between the camera at that particular video frame and the reference source. The invention has far-reaching applications, particularly in the field of assisted endoscopy, including bronchoscopy and colonoscopy. Other applications include aerial and ground-based navigation.
REFERENCES:
patent: 4791934 (1988-12-01), Brunnett
patent: 5740802 (1998-04-01), Nafis et al.
patent: 5748767 (1998-05-01), Raab
patent: 5765561 (1998-06-01), Chen et al.
patent: 5776050 (1998-07-01), Chen et al.
patent: 5782762 (1998-07-01), Vining
patent: 5792147 (1998-08-01), Evans et al.
patent: 5830145 (1998-11-01), Tenhoff
patent: 5891034 (1999-04-01), Bucholz
patent: 5901199 (1999-05-01), Murphy et al.
patent: 5920319 (1999-07-01), Vining et al.
patent: 5956418 (1999-09-01), Aiger et al.
patent: 5963612 (1999-10-01), Navab
patent: 5963613 (1999-10-01), Navab
patent: 5971767 (1999-10-01), Kaufman et al.
patent: 5999840 (1999-12-01), Grimson et al.
patent: 6006126 (1999-12-01), Cosman
patent: 6016439 (2000-01-01), Acker
patent: 6019725 (2000-02-01), Vesely et al.
patent: 6049582 (2000-04-01), Navab
patent: 6083162 (2000-07-01), Vining
patent: 6190395 (2001-02-01), Williams
patent: 6201543 (2001-03-01), O'Donnell et al.
patent: 6236743 (2001-05-01), Pratt
patent: 6241657 (2001-06-01), Chen et al.
patent: 6272366 (2001-08-01), Vining
patent: 6311116 (2001-10-01), Lee et al.
patent: 6334847 (2002-01-01), Fenster et al.
patent: 6343936 (2002-02-01), Kaufman et al.
patent: 6351573 (2002-02-01), Schneider
patent: 6363163 (2002-03-01), Xu et al.
patent: 6366800 (2002-04-01), Vining et al.
patent: 6442417 (2002-08-01), Shahidi et al.
patent: 6470207 (2002-10-01), Simon et al.
patent: 6480732 (2002-11-01), Tanaka et al.
patent: 6491702 (2002-12-01), Heilbrun et al.
patent: 6514082 (2003-02-01), Kaufman et al.
patent: 6535756 (2003-03-01), Simon et al.
patent: 6546279 (2003-04-01), Bova et al.
patent: 6556695 (2003-04-01), Packer et al.
patent: 6593884 (2003-07-01), Gilboa et al.
patent: 6674879 (2004-01-01), Weisman et al.
patent: 6675032 (2004-01-01), Chen et al.
patent: 6694163 (2004-02-01), Vining
patent: 6714668 (2004-03-01), Kerrien et al.
patent: 6725080 (2004-04-01), Melkent et al.
patent: 6771262 (2004-08-01), Krishnan
patent: 6785410 (2004-08-01), Vining et al.
patent: 6816607 (2004-11-01), O'Donnell et al.
patent: 6819785 (2004-11-01), Vining et al.
patent: 6859203 (2005-02-01), van Muiswinkel et al.
patent: 6909913 (2005-06-01), Vining
patent: 6920347 (2005-07-01), Simon et al.
patent: 6928314 (2005-08-01), Johnson et al.
patent: 6947584 (2005-09-01), Avila et al.
patent: 6980682 (2005-12-01), Avinash et al.
patent: 7019745 (2006-03-01), Goto et al.
patent: 7343036 (2008-03-01), Kleen et al.
patent: 2002/0057345 (2002-05-01), Tamaki et al.
patent: 2003/0103212 (2003-06-01), Westphal et al.
patent: 2003/0152897 (2003-08-01), Geiger
patent: 2004/0209234 (2004-10-01), Geiger
patent: 2004/0252870 (2004-12-01), Reeves et al.
patent: 2005/0074151 (2005-04-01), Chen et al.
patent: 2005/0078858 (2005-04-01), Yao et al.
patent: 2005/0096526 (2005-05-01), Reinschke
patent: 2005/0182295 (2005-08-01), Soper et al.
patent: 2005/0272999 (2005-12-01), Guendel
patent: 2006/0084860 (2006-04-01), Geiger et al.
patent: 2008/0262297 (2008-10-01), Gilboa et al.
patent: 20020041577 (2002-06-01), None
patent: WO-2006076789 (2006-07-01), None
Deligianni, F., A. Chung, and G. Yang. “Patient-specific bronchoscope simulation withpq—space-based 2D/3D registration.” Computer Aided Surgery, vol. 9, No. 5, p. 215-226 (2004).
Lee, P.Y. and J.B. Moore. “Pose Estimation via Gauss-Newton-on-manifold.” 16th International Symposium on Mathematical Theory of Network and System (MTNS), Leuven, 2004.
Hamadeh, A., S. Lavallee, and P. Cinquin. “Automated 3-Dimensional Computed Tomographic and Fluoroscopic Image Registration.” Computer Aided Surgery 1998, vol, 3: p. 11-19.
Roberson, R.E. and P.W. Likins. “A Linearization Tool for Use with Matrix Formalisms of Rotational Dynamics.” Archive of Applied Mathematics, vol. 37, No. 6: p. 388-392, Nov. 1969.
Asano, F., Y. Matsuno, T. Matsushita, H. Kondo, Yoshio Saito, A. Seko, and Y. Ishihara. “Transbronchial Diagnosis of a Pulmonary Peripheral Small Lesion Using an Ultrathin Bronchoscope with Virtual Bronchoscopic Navigation.” Journal of Bronchology (2002), vol. 9, No. 2, p. 108-111.
Geiger, B., G.M. Weiner, K. Schulze, J. Bilger, P. Krebs, K. Wolf, T.Albrecht. “Virtual Bronchoscopy Guidance System for Transbronchial Needle Aspiration.” Proceedings of SPIE vol. 5746 (2005).
Grimson, W.E.L., G.J. Ettinger, S.J. White, T. Lozano-Perez, W.M. Wells III, and R. Kikinis. “An Automatic Registration Method for Frameless Stereotaxy, Image Guided Surgery, and Enhanced Reality Visualization.” IEEE Transactions on Medical Imaging, Apr. 1996, vol. 15, No. 2, p. 129-140.
Hopper, K.D., T.A. Lucas, K. Gleeson, J.L. Stauffer, R. Bascom, D. T. Mauger, R. Mahraj. “Transbronchial Biopsy with Virtual CT Bronchoscopy and Nodal Highlighting.” Radiology Nov. 2001, vol. 221, No. 2, p. 531-536.
Maurer, C.R., J.M. Fitzpatrick, M.Y. Wang, R.L. Galloway, Jr., R.J. Maciunas, and G.S. Allen. “Registration of Head Volume Images Using Implantable Fiducial Markers.” IEEE Transactions on Medical Imaging, Aug. 1997, vol. 16, No. 4, p. 447-462.
McAdams, H,P., P.C. Goodman, and P. Kussin. “Virtual Bronchoscopy for Directing Transbronchial Needle Aspiration of Hilar and Mediastinal Lymph Nodes: A Pilot Study.” AJR May 1998, vol. 170, p. 1361-1364.
Sato, Y., M. Nakamoto, Y. Tamaki, T. Sasama, I. Sakita, Y. Nakajima, M. Monden, and S. Tamura. “Image Guidance of Breast Cancer Surgery Using 3-0 Ultrasound Images and Augmented Reality Visualization.” IEEE Transactions on Medical Imaging, Oct. 1998, vol. 17, No. 5, p. 681-693.
Schwarz, Y., A.C. Mehta, A. Ernst, F. Herth, A. Engel, D. Besser, and H. D. Becker. “Electromagnetic Navigation during Flexible Bronchoscopy.” Respiration 2003, vol. 70, p. 516-522.
Shinagawa, N., K. Yamazaki, Y. Onodera, K. Miyasaka, E. Kikuchi, H. Dosaka-Akita, and M. Nishimura. “CT-Guided Transbronchial Biopsy Using an Ultrathin Bronchoscope with Virtual Bronchoscopic Navigation.” Chest, Mar. 2004, vol. 25, p. 1138-1143.
Shoji, H., K. Mori, J. Sugiyama, Y. Suenaga, J. Toriwaki, H. Takabatake, and H. Natori. “Camera motion tracking of real endoscope by using virtual endoscopy system and texture information.” Proceedings of SPIE vol. 4321, p. 122-133 (2001).
Stefansic, J.D., A.J. Herline, Y. Shyr, W.C. Chapman, J.M. Fitzpatrick, B.M. Dawant, and R.L. Galloway, Jr. “Registration of Physical Space to Laparoscopic Image Space for Use in Minimally Invasive Hepatic Surgery.” IEEE Transactions on Medical Imaging, Oct. 2000, vol. 19, No. 10, p. 1012-1023.
Higgins William E.
Merritt Scott A.
Rai Lav
Gifford Krass Sprinkle Anderson & Citkowski P.C.
The Penn State Research Foundation
Zarka David
LandOfFree
Fast 3D-2D image registration system with application to... does not yet have a rating. At this time, there are no reviews or comments for this patent.
If you have personal experience with Fast 3D-2D image registration system with application to..., we encourage you to share that experience with our LandOfFree.com community. Your opinion is very important and Fast 3D-2D image registration system with application to... will most certainly appreciate the feedback.
Profile ID: LFUS-PAI-O-4259973